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Study on Multi-path Planning and Tracking Control of the UCAV Based on Evolutionary Algorithm
Hanqiao Huang,Huan Zhou,Yawei Cai 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10
Aiming at studying the multi-path planning and tracking control of the unmanned combat aerial vehicle(UCAV) in multi-constraints condition. In this paper, the mathematic model of the UCAV is built, then, the chromosome representation of path nodes and fitness function are proposed based on evolutionary algorithm. According to different operational requirements, the multi-path planning algorithm is put forward. Secondly, the paths are smoothened to get the attitude solved. Finally, the tracking of the trajectory attitude and velocity are realized with dynamics model of the UCAV by sliding mode variable structure control method. Simulation results demonstrate that the multi-path planned under the dynamic operational environment can meet different requirements, and the tracking controller has good accuracy and robustness.
Huan Zhou,Hui Zhao,Hanqiao Huang,Tong Han 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10
The problem of integrated guidance and control(IGC) design for the unmanned combat aerial vehicle(UCAV) terminal impact is investigated. In this paper, the IGC system model is established, which reduces the difficulties of designing control method, then, an IGC control law is designed based on trajectory linearization control(TLC). In order to deal with high uncertainties, such as aerodynamic parameter perturbation, measurement error interference, target maneuver, and so on, a nonlinear disturbance observer(NDO) is introduced to the IGC control system. By using the Lyapunov theorem, the stability of the designed method is proved. Simulation results demonstrate the superiority and effectiveness of the proposed IGC design method in the aspects of guidance accuracy and system robustness.